Related papers: Giving Sense to Inputs: Toward an Accessible Contr…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…
Robots are becoming a vital ingredient in society. Some of their daily tasks require dual-arm manipulation skills in the rapidly changing, dynamic and unpredictable real-world environments where they have to operate. Given the expertise of…
We propose a novel hands-free control framework for the Boston Dynamics Spot robot using the Microsoft HoloLens 2 mixed-reality headset. Enabling accessible robot control is critical for allowing individuals with physical disabilities to…
In the last decade, UAVs have become a widely used technology. As they are used by both professionals and amateurs, there is a need to explore different control modalities to make control intuitive and easier, especially for new users. In…
In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have…
For safe and effective operation of humanoid robots in human-populated environments, the problem of commanding a large number of Degrees of Freedom (DoF) while simultaneously considering dynamic obstacles and human proximity has still not…
Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic…
Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and…
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
As interactive web-based geovisualization becomes increasingly vital across disciplines, there is a growing need for open-source frameworks that support dynamic, multi-attribute spatial analysis and accessible design. This paper introduces…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…